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playerjoy.cc File Reference #include <termios.h> #include <assert.h> #include <unistd.h> #include <sys/types.h> #include <sys/stat.h> #include <sys/ioctl.h> #include <fcntl.h> #include <stdlib.h> #include <stdio.h> #include <string.h> #include <playerclient.h> #include <time.h> #include <pthread.h> #include <list> Defines #define  KEYBOARD_SUPPORT   1 #define  JOYSTICK_SUPPORT   0 #define  USAGE #define  DEFAULT_HOST   "localhost" #define  DEFAULT_PORT   PLAYER_PORTNUM #define  KEYCODE_I   0x69 #define  KEYCODE_J   0x6a #define  KEYCODE_K   0x6b #define  KEYCODE_L   0x6c #define  KEYCODE_Q   0x71 #define  KEYCODE_Z   0x7a #define  KEYCODE_W   0x77 #define  KEYCODE_X   0x78 #define  KEYCODE_E   0x65 #define  KEYCODE_C   0x63 #define  KEYCODE_U   0x75 #define  KEYCODE_O   0x6F #define  KEYCODE_M   0x6d #define  KEYCODE_COMMA   0x2c #define  KEYCODE_PERIOD   0x2e #define  COMMAND_TIMEOUT_SEC   0.2 #define  XAXIS   0 #define  YAXIS   1 #define  XAXIS2   2 #define  YAXIS2   3 #define  PAN   4 #define  TILT   5 #define  XAXIS4   6 #define  YAXIS4   7 #define  AXIS_MAX   32767.0 #define  PERCENT(X)   ((X) * 100.0 / AXIS_MAX) #define  PERCENT_POSITIVE(X)   (((PERCENT(X)) + 100.0) / 2.0) #define  KNORMALIZE(X)   ((((X) * 1024.0 / AXIS_MAX)+1024.0) / 2.0) #define  NORMALIZE_SPEED(X)   ( (X) * max_speed / AXIS_MAX ) #define  NORMALIZE_TURN(X)   ( (X) * max_turn / AXIS_MAX ) Typedefs typedef std::list< Client * >  ClientList Functions void *  keyboard_handler (void *arg) int  main (int argc, char **argv) Variables int  idx = 0 int  g_verbose = false bool  threed = false bool  always_command = false bool  debug_mode = false bool  print_speeds = false bool  use_keyboard = false int  jfd int  protocol = PLAYER_TRANSPORT_TCP double  max_speed = 0.500 double  max_turn = DTOR(60) Define Documentation #define KEYBOARD_SUPPORT   1 #define JOYSTICK_SUPPORT   0 #define USAGE   Value: "USAGE: playerjoy [options] <host:port> [<host:port>] ... \n" \ " -v : verbose mode; print Player device state on stdout\n" \ " -3d : connect to position3d interface (instead of position)\n" \ " -c : continuously send commands\n" \ " -n : dont send commands or enable motors (debugging)\n" \ " -k : use keyboard control\n" \ " -p : print out speeds on the console\n" \ " -udp : use UDP instead of TCP\n" \ " -speed : maximum linear speed (m/sec)\n" \ " -turnspeed : maximum angular speed (deg/sec)\n" \ " <host:port> : connect to a Player on this host and port\n" #define DEFAULT_HOST   "localhost" #define DEFAULT_PORT   PLAYER_PORTNUM #define KEYCODE_I   0x69 #define KEYCODE_J   0x6a #define KEYCODE_K   0x6b #define KEYCODE_L   0x6c #define KEYCODE_Q   0x71 #define KEYCODE_Z   0x7a #define KEYCODE_W   0x77 #define KEYCODE_X   0x78 #define KEYCODE_E   0x65 #define KEYCODE_C   0x63 #define KEYCODE_U   0x75 #define KEYCODE_O   0x6F #define KEYCODE_M   0x6d #define KEYCODE_COMMA   0x2c #define KEYCODE_PERIOD   0x2e #define COMMAND_TIMEOUT_SEC   0.2 #define XAXIS   0 #define YAXIS   1 #define XAXIS2   2 #define YAXIS2   3 #define PAN   4 #define TILT   5 #define XAXIS4   6 #define YAXIS4   7 #define AXIS_MAX   32767.0 #define PERCENT (  X   )     ((X) * 100.0 / AXIS_MAX) #define PERCENT_POSITIVE (  X   )     (((PERCENT(X)) + 100.0) / 2.0) #define KNORMALIZE (  X   )     ((((X) * 1024.0 / AXIS_MAX)+1024.0) / 2.0) #define NORMALIZE_SPEED (  X   )     ( (X) * max_speed / AXIS_MAX ) #define NORMALIZE_TURN (  X   )     ( (X) * max_turn / AXIS_MAX ) Typedef Documentation typedef std::list<Client*> ClientList Function Documentation void* keyboard_handler (  void *  arg  )  int main (  int  argc, char **  argv )  Variable Documentation int idx = 0 int g_verbose = false bool threed = false bool always_command = false bool debug_mode = false bool print_speeds = false bool use_keyboard = false int jfd int protocol = PLAYER_TRANSPORT_TCP double max_speed = 0.500 double max_turn = DTOR(60)